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Rigid vs. Elastic Actuation: Requirements & Performance

Haddadin, Sami and Mansfeld, Nico and Albu-Schäffer, Alin (2012) Rigid vs. Elastic Actuation: Requirements & Performance. 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, 07.-12. Oct. 2012, Vilamoura, Portugal. ISBN 978-1-4673-1735-1

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Official URL: http://www.iros2012.org


Intrinsically elastic joints have become increasingly popular over the last years. Commonly, they are considered to outperform rigid actuation in terms of peak dynamics, robustness, and energy efficiency. In particular, the possible increase of link speed by adequate motor excitation trajectories, such that the elastic transmission temporarily stores elastic energy and then timely converts it into kinetic link energy, is a new control problem in robotics. However, despite being a popular argument in favor of elastic actuation, it was not shown yet that this potential speed gain is truly inherent to the physical properties of the mechanism. In order to argue that ``elasticity is superior to input torque'', i.e. size and weight, it still needs to be derived that this new feature does not come at the cost of increasing weight for a given actuation technology. Therefore, we analyze, under which circumstances ``extracting'' a certain amount of mass from a rigid joint and ``investing'' this into an elastic mechanism in the drive train leads to such a performance increase. For this, we derive the general scaling behavior of rigid joints and compare their capabilities in terms of maximum velocity to the performance behavior of an elastic joint, while taking into consideration the most important real-world constraints.

Item URL in elib:https://elib.dlr.de/80374/
Document Type:Conference or Workshop Item (Paper)
Title:Rigid vs. Elastic Actuation: Requirements & Performance
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Haddadin, Samisami.haddadin (at) dlr.deUNSPECIFIED
Mansfeld, Niconico.mansfeld (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Date:7 October 2012
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Page Range:pp. 5097-5104
ISBN: 978-1-4673-1735-1
Keywords:elastic joint, flexible robot, series elastic actuator
Event Title:2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
Event Location:Vilamoura, Portugal
Event Type:international Conference
Event Dates:07.-12. Oct. 2012
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Mansfeld, Nico
Deposited On:11 Jan 2013 15:03
Last Modified:13 Jul 2016 17:28

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